A soft robotic system for sampling polar ice and its working method

Abstract

This invention discloses a soft robot system and its working method for sampling polar ice layers, applied in the field of polar drilling technology. It includes a soft robot and an ice surface working platform. The soft robot comprises a sub-ice drilling soft body and an ice surface sealing soft body. The sub-ice drilling soft body includes a soft body main unit and a heat-fusion module located at the front end of the soft body main unit. The ice surface sealing soft body includes a soft body main unit. Both soft body main unit one and soft body main unit two are provided with hollow channels, and several air chambers are provided inside soft body main unit one on both sides of the hollow channels. The ice surface working platform includes a pneumatic system, a pipeline system, a water storage system, and a main controller. The main controller is electrically connected to the pneumatic system, the pneumatic system pipelines are connected to the pipeline system, and the pipeline system pipelines are connected to the water storage system and the air chambers. The pipeline system passes through the hollow channels and connects soft body main unit one and soft body main unit two in series. This invention meets the existing requirements of unmanned drilling, flexible selection of sampling locations, no complex mechanical structure, and low propulsion resistance in ultra-deep drilling.

Description

Technical Field

[0001] This invention relates to the field of polar drilling technology, and more specifically to a soft robotic system for sampling polar ice layers and its working method. Background Technology

[0002] Polar ice sheets, due to their unique geographical environment, preserve a wealth of natural data on paleoclimate, paleogeography, and paleontology, possessing immense scientific research value. However, existing polar ice drilling equipment is bulky and cumbersome, employing complex mechanical structures for drilling and propulsion, requiring real-time operation by specialized personnel, making it highly unsuitable for use in the harsh terrain and extreme temperatures of the polar environment. Furthermore, the limitations of existing ice drilling equipment due to its mechanical transmission structure typically restrict it to vertical drilling; in drilling tasks requiring multi-point sampling, repeated movement of equipment and multiple drilling cycles are necessary, resulting in significant manpower and energy consumption and low drilling and sampling efficiency. In addition, existing ice drilling equipment requires a continuous mechanical propulsion structure to advance the drill bit. When drilling at greater depths, the frictional resistance between the ice wall and the propulsion mechanism is extremely high, increasing the propulsion force required and the difficulty of drilling and sampling operations.

[0003] Therefore, how to reduce the difficulty of sampling polar ice and improve sampling efficiency is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the present invention provides a soft robot system and its working method for polar ice sampling, which solves the problems of existing polar ice sampling equipment requiring real-time manual operation, only vertical drilling, complex mechanical structure, and excessive propulsion resistance in ultra-deep drilling, and meets the existing requirements of unmanned drilling, flexible selection of sampling location, no complex mechanical structure, and low propulsion resistance in ultra-deep drilling.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A soft robotic system for sampling polar ice layers includes a soft robot and an ice surface working platform;

[0007] The soft robot includes an ice-drilling soft body and an ice-sealing soft body; the ice-drilling soft body includes a soft body body one and a heat-melting module disposed at the front end of the soft body body one; the ice-sealing soft body includes a soft body body two; both the soft body body one and the soft body body two are provided with hollow channels, and multiple air chambers are provided inside the soft body body one on both sides of the hollow channels;

[0008] The ice surface working platform includes an air pressure system, a pipeline system, a water storage system, and a main controller; the main controller is electrically connected to the air pressure system, the air pressure system is connected to the pipeline system, the pipeline system is connected to the water storage system and the air chamber; the pipeline system passes through the hollow channel and connects the first soft body and the second soft body in series.

[0009] Preferably, the pneumatic system includes a pneumatic controller and a high-pressure gas cylinder. The pneumatic controller is connected to the high-pressure gas cylinder by a pipeline and to the main controller by an electrical circuit. The pneumatic controller has a branch, and an electric pressure relief valve is installed on the branch. The electric pressure relief valve is electrically connected to the main controller.

[0010] The pipeline system includes a meltwater pipe, a pneumatic pipe, and a power supply cable. The meltwater pipe passes sequentially through the hollow channels of the ice surface sealing soft body and the sub-ice drilling soft body. The pipe head is sealed to the front end of the soft body body one, and the pipe head can be embedded in the front end of the soft body body one, thereby sealing one end of the hollow channel of the soft body body one. The pipe tail is connected to the water storage system. The pneumatic pipe passes sequentially through the hollow channels of the ice surface sealing soft body and the sub-ice drilling soft body. The air inlet end is connected to a pneumatic controller, and the air outlet end is fixed in the hollow channel of the sub-ice drilling soft body. An electric pneumatic valve is provided on the pneumatic pipe at the tail end of the soft body body one. The air chamber of the sub-ice drilling soft body is connected to the pneumatic pipe through the electric pneumatic valve. The power supply cable's power transmission end is connected to the main controller, and the power supply end passes sequentially through the hollow channels of the ice surface sealing soft body and the sub-ice drilling soft body, connecting to the heat melting module and the electric air valve.

[0011] Preferably, air chambers are provided on both sides of the hollow channel of the second soft body, and the air chambers are connected to the air pressure pipe through the electric air valve, which is electrically connected to the main controller; sealing soft fins are evenly distributed on the outer walls of the first and second soft bodies. Each air chamber in the first and second soft bodies is connected to the air pressure pipe through an electric air valve.

[0012] Preferably, the air cavities are evenly distributed inside the first or second soft body. The air cavities of the ice-drilling soft body are cylindrical or nearly cylindrical with a small diameter and a large number, which facilitates control of the turning direction during pressure deformation. The air cavities of the ice-surface sealing soft body are ellipsoidal or nearly ellipsoidal with a large diameter and a small number, which is sufficient to meet the sealing conditions of the opening.

[0013] Preferably, the sealing soft fins are arranged at equal intervals; each sealing soft fin is a ring-shaped protruding soft body with an r-shaped cross-section, and its top two sides include a pointed end and a rounded end. The pointed end of the sealing soft fin of the sub-ice drilling soft body faces the end of the soft body body one, and the rounded end faces the front end of the soft body body one. The pointed end of the sealing soft fin of the ice surface sealing soft body faces the front of the soft body body two, and the rounded end faces the end of the soft body body two. The slightly longer pointed end at the top allows for better contact with the outer wall, providing a sealing effect, while the slightly shorter rounded end at the top provides better support for the outer wall, preventing the sealing soft fin from being folded under pressure.

[0014] Preferably, the water storage system includes an ice meltwater tank, a sampling water storage tank, and a water pump; the tailpipe of the meltwater pipe has two branch pipes, and the meltwater pipe is connected to the ice meltwater tank and the sampling water storage tank respectively through the two branch pipes via the water pump. The water pump is electrically connected to the main controller. The main controller controls the conduction of the electronically controlled valve to realize the conduction between the meltwater pipe and the ice meltwater tank or the sampling water storage tank, thereby collecting ice meltwater or sampling water.

[0015] Preferably, the ice surface working platform further includes an insulated outer frame, and the air pressure system, the pipeline system, the water storage system and the main controller are all fixed on the upper surface of the bottom plate of the insulated outer frame. The bottom plate is provided with through holes through which the melt water pipe, the air pressure pipe and the power supply cable pass.

[0016] Preferably, a platform push rod system is provided on the lower surface of the base plate of the thermal insulation outer frame. The platform push rod system includes a main push rod and three or more support leg push rods. One end of the main push rod is fixed to the lower surface of the base plate, and the other end is sealed to the end of the soft body two. The support leg push rods are evenly distributed along the edge of the lower surface of the base plate. The main push rod is a telescopic structure. The main push rod can be an electric telescopic rod or a hydraulic telescopic rod. When an electric telescopic rod is used, the drive motor is electrically connected to the main controller. A flexible sealing ring is provided at the connection between the main push rod and the soft body two to ensure a seal at the connection while allowing the pipeline system to move freely. The support leg push rods provide stable support for the thermal insulation outer frame. The main push rod can be raised, lowered, and extended, thereby causing the ice-sealing soft body to block or detach from the opening of the ice-melting drill hole of the soft body under the ice, thus sealing the sampling drill hole.

[0017] Preferably, the upper surface of the base plate is also provided with an ice-drilling software storage box and a power supply; the power supply is electrically connected to the main controller.

[0018] Preferably, the pipeline system further includes a pipeline winder, which is disposed on the upper surface of the base plate. The meltwater pipe, the air pressure pipe, and the power supply cable are respectively fixed to the pipeline winder. One end of a section of pipeline fixed to the pipeline winder is fixed to a circular end of the winding shaft of the pipeline winder, and the other end is fixed to the outer wall of the winding shaft. Alternatively, three sets of pipeline winders can be provided, with the meltwater pipe, air pressure pipe, and power supply cable each fixed to one set of pipeline winders.

[0019] Preferably, the first end of the soft body is further provided with a motor and a rotating ice-crushing blade. The motor is connected to a power supply cable, and the output shaft is connected to the rotating ice-crushing blade. This allows for mechanical ice crushing, accelerating the advancement of the soft body drilling under the ice.

[0020] A method for operating a soft robotic system for sampling polar ice layers includes the following steps:

[0021] Step 1: Preheat the thermal melting module and keep it running to release the pipeline system, allowing the sub-ice drilling software to descend vertically to contact the ice surface, melt the ice, and form a drilling channel;

[0022] Step 2: The ice-sealing soft body descends to seal the opening of the drill hole channel;

[0023] Step 3: The air pressure system pressurizes the borehole through the pipeline system to propel the sub-ice drilling software;

[0024] Step 4: The air pressure system pressurizes the air cavity of the sub-ice drilling soft material through the pipeline system and adjusts the propulsion direction;

[0025] Step 5: After the advancement is stopped, the thermal fusion module continues to work, and the pipeline system performs water pumping and sampling;

[0026] Step 6: After sampling is completed, depressurize the borehole channel through the pipeline system, remove the ice surface sealing soft body, and release the seal on the borehole channel;

[0027] Step 7: Depressurize the air chamber of the sub-ice drilling software through the pipeline system, rewind the pipeline system, and retrieve the sub-ice drilling software.

[0028] Preferably, the hollow channel of the second soft body of the ice-sealing soft body is provided with air chambers on both sides. When the ice-sealing soft body descends to the opening of the borehole channel, the air pressure system inflates the air chambers through the pipeline system to seal the opening. Before the main push rod descends and the ice-sealing soft body enters the opening, the cavity can be depressurized, causing the second soft body to contract and become smaller. After entering the opening, the cavity is pressurized, causing the second soft body to expand and become larger, which can better seal the borehole channel. Each air chamber in the first and second soft bodies is connected to an air pressure pipe through an electric air valve.

[0029] Preferably, the ice surface working platform further includes an insulated outer frame. The lower surface of the base plate of the insulated outer frame is provided with a platform push rod system. The platform push rod system includes a main push rod and three or more support leg push rods. One end of the main push rod is fixed to the lower surface of the base plate, and the other end is connected to the end of the soft body body two. The support leg push rods are evenly distributed on the edge of the lower surface of the base plate. The main push rod is a telescopic structure. In step 2, the main push rod descends or rises, causing the ice surface sealing soft body to descend to seal the opening or rise to disengage from the opening.

[0030] Preferably, the first end of the soft body is also provided with a motor and a rotating ice-crushing blade. In step 1, while the ice-drilling soft body is melting and drilling, the motor is turned on to drive the rotating ice-crushing blade to rotate and perform ice-crushing drilling, thereby improving the drilling efficiency of the ice-drilling soft body.

[0031] As can be seen from the above technical solution, compared with the prior art, this invention discloses a soft robot system and its working method for polar ice sampling. It employs fully automated thermal drilling, dual-soft-body sealed pressurized propulsion, pneumatic soft-body deformation and steering, and soft-body retraction after sampling, thereby achieving unmanned drilling, flexible sampling location selection, and low propulsion resistance. Specifically, the dual-soft-body sealed pressurized propulsion and post-sampling soft-body retraction design avoids complex ice drilling and propulsion mechanisms. During sampling, there is no continuous mechanical propulsion structure, avoiding the extreme frictional resistance between the ice wall and the propulsion mechanism during deep drilling, which increases the propulsion force requirements and difficulty of drilling and sampling. The pneumatic soft-body deformation design solves the problem that existing ice drilling equipment is limited by mechanical transmission structures, typically only capable of vertical drilling. In drilling tasks requiring multi-point sampling, repeated movement of equipment positions and multiple drilling processes are necessary, resulting in significant manpower and energy consumption and low drilling and sampling efficiency. This invention effectively solves the problems of existing polar drilling equipment requiring real-time manual operation, only allowing vertical drilling, and excessive resistance during ultra-deep drilling. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0033] Figure 1 The attached figure is a structural schematic diagram of the soft robot system for polar ice sampling provided by the present invention;

[0034] Figure 2 The attached figure is a schematic cross-sectional view of the software robot provided by the present invention.

[0035] Figure 3 The attached figure is a schematic cross-sectional view of the ice-drilling soft head with a rotating ice-crushing blade provided by the present invention.

[0036] Figure 4 The attached figure is a schematic diagram of the working method of the soft robot system for polar ice sampling provided by the present invention.

[0037] Attached image annotations:

[0038] 11-Ice drilling software, 111-Soft body 1, 112-Air chamber 1, 113-Electric air valve 1, 114-Sealing soft fin 1, 115-Heat melting module, 116-Motor, 117-Rotating ice-crushing blade, 12-Ice surface sealing software, 121-Soft body 2, 122-Air chamber 2, 123-Electric air valve 2, 124-Sealing soft fin 2, 21-Insulated outer frame, 221-Air pressure controller, 222-High-pressure gas cylinder, 23-Power supply, 241-Pipeline winder, 242-Melting water pipe, 243-Air pressure pipe, 244-Power supply cable, 251-Drilling ice melting water tank, 252-Sampling water storage tank, 253-Water pump, 26-Main controller, 27-Drilling ice software storage box, 281-Main push rod, 282-Leg push rod. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] This invention discloses a soft robotic system for sampling polar ice layers, such as... Figure 1-2 As shown, it includes a soft robot and an ice surface working platform;

[0041] The soft robot includes an ice-drilling soft body 11 and an ice-surface sealing soft body 12; the ice-drilling soft body 11 includes a soft body 111, an air chamber 112, an electric air valve 113, a sealing soft body fin 114, and a thermal fusion module 115; the ice-surface sealing soft body 12 includes a soft body 2 121, an air chamber 2 122, an electric air valve 2 123, and a sealing soft body fin 2 124.

[0042] The ice surface working platform includes an insulated outer frame 21, an air pressure system, a power supply 23, a pipeline system, a water storage system, a main controller 26, an ice drilling software storage box 27, and a platform push rod system. The air pressure system includes an air pressure controller 221 and a high-pressure gas cylinder 222. The air pressure controller 221 is equipped with a branch, and the branch is equipped with an electric pressure relief valve. The pipeline system includes a pipeline winder 241, a melt water pipe 242, an air pressure pipe 243, and a power supply rope 244. The water storage system includes an ice drilling melt water tank 251, a sampling water storage tank 252, and a water pump 253. The platform push rod system includes a main push rod 281 and a support leg push rod 282.

[0043] like Figure 2 As shown, this embodiment does not impose specific restrictions on the material of the soft body, as long as it meets the required functional requirements such as pressure deformation and pressure reduction contraction, and has good heat resistance to avoid damage caused by the heating of the heat fusion module.

[0044] To further optimize the above technical solution, the hot melt module 115 includes several resistance wires or heating plates, which are attached to the outer wall of the front end of the software body 111.

[0045] To further optimize the above technical solution, each air chamber 112 and air chamber 22 is connected to the air pressure pipe 243 through an electric air valve.

[0046] To further optimize the above technical solution, the pneumatic system, power supply 23, pipeline system, water storage system, main controller 26, and ice-drilling software storage box 27 are placed inside the insulated outer frame 21. The main controller can control and coordinate the pressurization and depressurization of the pneumatic system, the release and retraction of the pipeline system, the start and switching of the water storage system, the extension and retraction of the platform push rod system, the opening and closing of the electric air valve, and the opening and closing of the heat fusion module.

[0047] In this embodiment, no specific restrictions are placed on the specific structure and layout of the pneumatic system, power supply 23, pipeline system, water storage system, main controller 26, and ice drilling software storage box 27, as long as the assembly and operation of each part are satisfied.

[0048] In one specific embodiment, a solar panel can be installed on the insulated outer frame and electrically connected to a power source 23 to continuously provide power to the system.

[0049] To further optimize the above technical solution, the water storage system includes an ice melting tank 251, a sampling water storage tank 252, and a water pump 253; the tail pipe of the melting water pipe 242 is provided with two branch pipes, and the melting water pipe 242 is connected to the ice melting tank 251 and the sampling water storage tank 252 respectively through the water pump 253 and the two branch pipes. Each branch pipe is equipped with an electric control valve, and the water pump and the electric control valve are electrically connected to the main controller 26.

[0050] To further optimize the above technical solution, the platform push rod system is installed at the bottom of the thermal insulation outer frame 21, the support leg push rods 282 are evenly distributed around the bottom of the thermal insulation outer frame 21, and the main push rod 281 is installed at the bottom of the thermal insulation outer frame 21.

[0051] In this embodiment, there are no specific restrictions on the number and distribution of the outrigger push rods 282, as long as the platform can be leveled on the rugged ice surface by adjusting the height of each outrigger.

[0052] To further optimize the above technical solution, the bottom plate of the thermal insulation outer frame 21 has a through hole for the ice drilling software 11, so that the ice drilling software 11 can be placed into the ice drilling software storage box 27 of the ice working platform after sampling.

[0053] To further optimize the above technical solution, the melting water pipe 242, the air pressure pipe 243, and the power supply rope 244 are wound around the pipe winder 241 and pass through the insulation outer frame 21 to connect to the soft robot. The power supply rope 244 has good tensile strength and can play a role in pulling the soft robot that drills under the ice.

[0054] To further optimize the above technical solution, the ice surface sealing soft body 12 is installed on the top of the main push rod 281. The melt water pipe 242, the air pressure pipe 243, and the power supply rope 244 pass through the ice surface sealing soft body 12 and connect to the ice-drilling soft body 11. The front end of the main push rod connected to the soft body body 2 is a hollow rod, and a through hole is opened on the side wall of the hollow rod. The tail ends of the melt water pipe, the air pressure pipe, and the power supply rope pass through the hollow channel and the hollow rod of the soft body body 2 in sequence, and exit from the through hole, and then connect to the ice-drilling melt water tank and the sampling water storage tank, the air pressure controller, and the main controller, respectively.

[0055] To further optimize the above technical solution, the center of the software body 111 and the software body 21 has a cylindrical cavity for the arrangement of the water pipe 242, the air pressure pipe 243, the power supply rope 244, the electric air valve 113 and the electric air valve 223, and the two ends of the cavity are sealed to prevent air leakage.

[0056] To further optimize the above technical solution, air chamber 112 and air chamber 2 122 are evenly distributed inside the soft body 111 and soft body 2 121, respectively. The air chamber 112 of the ice-drilling soft body 11 is cylindrical or nearly cylindrical, with a small diameter and a large number, which facilitates control of the turning direction during pressure deformation; the air chamber 2 122 of the ice-surface sealing soft body 12 is ellipsoidal or nearly ellipsoidal, with a larger diameter and a smaller number, which is sufficient to meet the sealing conditions of the opening.

[0057] To further optimize the above technical solution, sealing soft fin one 114 and sealing soft fin two 124 are arranged equidistantly along the outer walls of soft body one 111 and soft body two 121, respectively. Sealing soft fin one 114 and sealing soft fin two 124 are annular protruding soft bodies with an "r"-shaped cross-section. The top has a pointed end and a rounded end on each side. The pointed end of sealing soft fin one 114 faces the tail of soft body one 111, and the rounded end faces the head of soft body one 111. Similarly, the pointed end of sealing soft fin two 124 faces the head of soft body two 121, and the rounded end faces the tail of soft body two 121. The slightly longer pointed end better conforms to the outer wall, providing a sealing effect, while the slightly shorter rounded end better supports the outer wall, preventing the sealing soft fin from folding under pressure.

[0058] In this embodiment, there is no specific limitation on the number of cavities and sealing soft fins. The number of cavities can be selected to control the accuracy of the steering of the sub-ice drilling soft body as needed. The common number of cavities is 4. The number of sealing soft fins is sufficient to ensure the airtightness of the sealing space between the two soft bodies.

[0059] To further optimize the above technical solution, electric air valve 113 is connected to the air pressure pipe 243 and power supply rope 244 at the tail of the ice-drilling soft body 111 inside the soft body 111, and the valve opening at the soft body 111 is located inside the air chamber 112; electric air valve 123 is connected to the air pressure pipe 243 and power supply rope 244 at the tail of the ice-sealing soft body 12 inside the soft body 121, and the valve opening at the soft body 121 is located inside the air chamber 122.

[0060] To further optimize the above technical solution, the heat-melting module 115 is installed at the head of the ice-drilling software 11 and is connected to the power supply cable 244 inside the software body 111; the melting water pipe 242 is located at the front end of the ice-drilling software 11.

[0061] To further optimize the above technical solution, before the main push rod 281 descends and the ice surface sealing soft body 12 enters the opening, the pressure of its air chamber 122 can be reduced by opening the electric air valve 123 and the electric pressure relief valve, and the soft body 121 shrinks. After entering the opening, the pressure of its air chamber 122 can be increased by closing the electric pressure relief valve and opening the electric air valve 123, and the soft body 121 expands, which can better seal the opening.

[0062] In one specific embodiment, several motors 116 are installed at the head of the ice-drilling soft body. The motors 116 are connected to a power supply cable 244 inside the soft body 111. Rotating ice-crushing blades 117 are installed on the output shaft, serving as a mechanical ice-crushing auxiliary device during the soft body's drilling process, thereby improving the ice-melting efficiency of the thermal melting module. The structure is as follows... Figure 3 As shown.

[0063] A method for operating a soft robotic system for sampling polar ice layers, comprising the following steps:

[0064] S1, at the ice layer that needs to be detected, first level the ice surface working platform, preheat the heat melting module 115 and keep it working;

[0065] S2, the pipeline reel 241 is released, the ice-drilling soft body 11 descends vertically and begins ice-melting drilling until the tail enters below the ice surface;

[0066] S3, the main push rod 281 descends, the ice surface sealing soft body 12 enters and seals the opening, and a sealed space is formed between the two soft bodies;

[0067] S4, pressurize the sealed space to propel the ice-drilling robot into the ice;

[0068] S5, the air chamber 112 of the sub-ice drilling soft body 11 is pressurized, the soft body 111 deforms, causing the head with the heat fusion module to turn.

[0069] S6 repeatedly applies pressure and propulsion, and deforms and turns until the target sampling point is reached;

[0070] S7, stop pressurization and propulsion, the thermal fusion module 115 continues to work, and performs water pumping and sampling;

[0071] S8. After sampling, the air chamber 122 of the ice surface sealing soft body 12 is depressurized, the main push rod rises, the ice surface sealing soft body 12 is withdrawn and the hole seal is released.

[0072] S9, all air chambers of the sub-ice drilling software 11 are depressurized at 112, the main body of the software 111 contracts, the pipeline winder 241 rotates, and the sub-ice drilling software 11 is recovered.

[0073] like Figure 4 The diagram shown illustrates the working process of a soft robot system for sampling polar ice layers in a specific embodiment. Figure 4 (a)- Figure 4 (i) Display the workflow, where P represents air pressure, an upward arrow near P indicates increasing air pressure, and a downward arrow near P indicates decreasing air pressure. T represents temperature, and an upward arrow near T indicates increasing temperature. The specific steps are as follows:

[0074] First, the system is moved to the polar ice layer where drilling and sampling are required. Under the control of the main controller 26, subsequent steps are completed. The ice surface working platform is leveled by adjusting the height of different outrigger push rods 282, while the thermal melting module 115 preheats and continues to operate. Figure 4 As shown in (a);

[0075] Next, the sub-ice drilling software 11 is removed from the ice drilling software storage box 27, allowing it to hang vertically. The pipeline reel 241 slowly releases the meltwater pipe 242, air pressure pipe 243, and power supply cable 244. Under gravity, the sub-ice drilling software 11 descends vertically to above the ice surface, beginning the ice-melting drilling process. During the melting process, the water pump 253 is activated, pumping the water generated during melting into the ice-melting water tank 251 until the tail section is below the ice surface. Figure 4 As shown in (b);

[0076] Next, the electric air valve 123 at the air chamber 122 of the ice-sealing soft body 12 and the electric pressure relief valve on the air pressure controller 221 are opened, depressurizing all cavities. The soft body 121 contracts and shrinks, the main push rod 281 descends, and after the ice-sealing soft body 12 enters, the electric pressure relief valve is closed, and the electric air valve 123 is opened to pressurize the air chamber 122. The soft body 121 expands and enlarges, sealing the opening, and a sealed space is formed between the two soft bodies; as Figure 4 As shown in (c);

[0077] Next, the electric air valve 113 at the tail of the ice-drilling software 11 opens, pressurizing the sealed space and propelling the ice-drilling robot forward; as... Figure 4 As shown in (d);

[0078] Next, the electric air valve 113 at the air cavity 112 of the sub-ice drilling soft body 11 is opened, pressurizing part of the cavity. The soft body 111 deforms, and due to the different degrees of deformation on both sides, the head with the heat-melting module turns; as... Figure 4 As shown in (e);

[0079] The next step involves repeated pressurization and deformation steering until the target sampling point is reached. During pressurization, the water pump 253 of the water storage system operates, and the branch pipe on the meltwater pipe 242 connected to the ice-melting water tank 251 is connected under the control of the electric control valve. The electric control valve on the branch pipe connected to the sampling water storage tank 252 is then shut off, and the meltwater used for ice melting is pumped into the ice-melting water tank 251. Figure 4 As shown in (f);

[0080] Next, the electric air valve 113 at the tail of the ice-drilling software 11 is closed, stopping pressurized propulsion. The thermal melting module 115 continues to operate, and the water pump 253 operates to extract meltwater. By switching the connecting pipeline through the switching electric control valve, the sampling water generated by the ice melting at the sampling point is pumped into the sampling water storage tank 252 for water sampling. After sampling is completed, the connecting pipeline is switched back through the electric control valve to the ice melting water tank 251. Figure 4 As shown in (g);

[0081] Next, after sampling, the electric air valve 113 and the electric pressure relief valve at the tail of the sub-ice drilling soft body 11 are opened to depressurize the sealed space. The electric air valve 123 at the air chamber 122 of the ice surface sealing soft body 12 is opened to depressurize all air chambers 122. The soft body 121 contracts and shrinks, the main push rod 281 rises, and the ice surface sealing soft body 12 is withdrawn, releasing the seal at the opening. Figure 4 As shown in (h);

[0082] Next, the electric air valve 113 at the air chamber 112 of the sub-ice drilling soft body 11 is opened, depressurizing all air chambers 112. The soft body 111 retracts, the pipeline winder 241 rotates, and the meltwater pipe 242, air pressure pipe 243, and power supply rope 244 are wound back. Under the action of tension, the sub-ice drilling soft body 11 is retrieved, completing the entire polar ice drilling and sampling process; Figure 4 As shown in (i).

[0083] Therefore, the soft robot system and its working method for sampling polar ice layers provided in this embodiment can effectively avoid the prominent pain points of existing mechanical drilling equipment, meet the existing requirements of unmanned drilling, flexible selection of sampling location, no complex mechanical structure, and low resistance to ultra-deep drilling, and help carry out exploration and scientific research in polar regions.

[0084] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0085] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A soft robotic system for sampling polar ice layers, characterized in that, This includes soft robots and ice surface working platforms; The soft robot includes an ice-drilling soft body and an ice-sealing soft body; the ice-drilling soft body includes a soft body main body one and a heat-melting module disposed at the front end of the soft body main body one; the ice-sealing soft body includes a soft body main body two; both the soft body main body one and the soft body main body two are provided with hollow channels, and multiple air chambers are provided inside the soft body main body one on both sides of the hollow channels; The ice surface working platform includes an air pressure system, a pipeline system, a water storage system, and a main controller; the main controller is electrically connected to the air pressure system, the air pressure system is connected to the pipeline system, the pipeline system is connected to the water storage system and the air chamber; the pipeline system passes through the hollow channel and connects the first soft body and the second soft body in series.

2. The soft robotic system for polar ice sampling according to claim 1, characterized in that, The pneumatic system includes a pneumatic controller and a high-pressure gas cylinder. The pneumatic controller is connected to the high-pressure gas cylinder by a pipeline and to the main controller by an electrical circuit. The pneumatic controller has a branch, and an electric pressure relief valve is installed on the branch. The electric pressure relief valve is electrically connected to the main controller. The pipeline system includes a meltwater pipe, a pneumatic pipe, and a power supply cable; the meltwater pipe passes sequentially through the hollow channel of the ice surface sealing soft body and the ice-under-ice drilling soft body, with the pipe head sealed to the front end of the soft body body and the pipe tail connected to the water storage system; The air pressure pipe passes sequentially through the hollow channels of the ice surface sealing soft body and the ice-drilling soft body. The air inlet end is connected to the air pressure controller, and the air outlet end is fixed inside the hollow channel of the ice-drilling soft body. An electric air pressure valve is installed on the air pressure pipe at one end of the soft body. The air chamber of the ice-drilling soft body is connected to the air pressure pipe through the electric air pressure valve. The power supply cable's power transmission end is connected to the main controller, and the power supply end passes sequentially through the hollow channels of the ice surface sealing soft body and the ice-drilling soft body, connecting to the heat-melting module and the electric air pressure valve.

3. A soft robotic system for sampling polar ice layers according to claim 2, characterized in that, The hollow channel of the second soft body is provided with air chambers on both sides, and the air chambers are connected to the air pressure pipe through the electric air pressure valve, which is electrically connected to the main controller; sealing soft fins are evenly distributed on the outer walls of the first soft body and the second soft body; The air cavities are evenly distributed inside the soft body one or the soft body two. The air cavities of the ice-drilling soft body are cylindrical or approximately cylindrical, and the air cavities of the ice-sealing soft body are ellipsoidal or approximately ellipsoidal. The sealing soft fins are arranged at equal intervals, forming annular protruding soft bodies with an r-shaped cross-section, and each top side includes a pointed end and a rounded end; the pointed end of the sealing soft fin of the ice-drilling soft body faces the end of the soft body body one, and the rounded end faces the front end of the soft body body one; the pointed end of the sealing soft fin of the ice-surface sealing soft body faces the front of the soft body body two, and the rounded end faces the end of the soft body body two.

4. A soft robotic system for sampling polar ice layers according to claim 2, characterized in that, The water storage system includes an ice melting tank, a sampling water storage tank, and a water pump; the tail pipe of the melting pipe is provided with two branch pipes, and the melting pipe is connected to the ice melting tank and the sampling water storage tank respectively through the two branch pipes via the water pump. Each branch pipe is provided with an electric control valve, and the water pump and the electric control valve are electrically connected to the main controller.

5. A soft robotic system for sampling polar ice layers according to claim 2, characterized in that, The ice surface working platform also includes an insulated outer frame. The air pressure system, the pipeline system, the water storage system and the main controller are all fixed on the upper surface of the base plate of the insulated outer frame. The base plate is provided with through holes, through which the meltwater pipe, the air pressure pipe and the power supply cable pass.

6. A soft robotic system for sampling polar ice layers according to claim 5, characterized in that, The lower surface of the base plate of the thermal insulation outer frame is provided with a platform push rod system, which includes a main push rod and three or more support leg push rods; one end of the main push rod is fixed to the lower surface of the base plate, and the other end is sealed to the soft body two; the support leg push rods are evenly distributed on the edge of the lower surface of the base plate. The main push rod is a telescopic structure.

7. A soft robotic system for sampling polar ice layers according to claim 5, characterized in that, The upper surface of the base plate is also provided with an ice-drilling software storage box and a power supply; the power supply is electrically connected to the main controller.

8. A soft robotic system for sampling polar ice layers according to claim 5, characterized in that, The pipeline system also includes a pipeline winder, which is disposed on the upper surface of the base plate, and the meltwater pipe, the air pressure pipe and the power supply cable are respectively fixed on the pipeline winder.

9. A soft robotic system for sampling polar ice layers according to claim 2, characterized in that, The first end of the software body is also provided with a motor and a rotating ice-crushing blade. The motor is connected to the power supply cable, and the output shaft is connected to the rotating ice-crushing blade.

10. A working method, characterized in that, A soft robotic system for sampling polar ice as described in any one of claims 1-9, comprising the following steps: Step 1: Preheat the thermal melting module and keep it running to release the pipeline system, allowing the sub-ice drilling software to descend vertically to contact the ice surface, melt the ice, and form a drilling channel; Step 2: The ice-sealing soft body descends to seal the opening of the drill hole channel; Step 3: The air pressure system pressurizes the borehole through the pipeline system to propel the sub-ice drilling software; Step 4: The air pressure system pressurizes the air cavity of the sub-ice drilling soft material through the pipeline system and adjusts the propulsion direction; Step 5: After the advancement is stopped, the thermal fusion module continues to work, and the pipeline system performs water pumping and sampling; Step 6: After sampling is completed, depressurize the borehole channel through the pipeline system, remove the ice surface sealing soft body, and release the seal on the borehole channel; Step 7: Depressurize the air chamber of the sub-ice drilling software through the pipeline system, rewind the pipeline system, and retrieve the sub-ice drilling software.

Images